Table 3 Details of feature set data, including description, unit, mean, standard deviation and Pearson coefficient.
Symbol | Description | Unit | Mean | Std | Pearson |
|---|---|---|---|---|---|
Rg | Gaze intersection offset | mm | 383.842 | 300.609 | − 0.772 |
Rp | Offset of face towards intersection | mm | 721.055 | 761.970 | − 0.668 |
Tpz | Head translation variation z | mm | 1043.253 | 302.724 | − 0.628 |
Dist | Distance between the robot and the human | mm | 1064.785 | 314.895 | − 0.613 |
Exprs | Human facial expression | [1–3] | 2.099 | 0.469 | 0.384 |
Vgry | Right eye sight direction vector y | – | 0.185 | 0.162 | 0.366 |
Gpitch | Pitch angle of gaze | rad | 0.186 | 0.169 | 0.335 |
Vgly | Left eye sight direction vector y | – | 0.167 | 0.159 | 0.333 |
Vglx | Left eye sight direction vector x | – | 0.054 | 0.243 | 0.214 |
Ppitch | Pitch angle of head pose | rad | 0.136 | 0.155 | 0.208 |
Gyaw | Yaw angle of gaze | rad | − 0.031 | 0.255 | 0.191 |
Pyaw | Yaw angle of head pose | rad | 0.068 | 0.311 | − 0.168 |
Vgrx | Right eye sight direction vector x | – | − 0.113 | 0.237 | 0.159 |
Tpx | Head translation variation x | mm | 23.490 | 155.871 | − 0.154 |
Tpy | Head translation variation y | mm | − 58.452 | 173.342 | − 0.139 |
Vgrz | Right eye sight direction vector z | – | − 0.931 | 0.058 | − 0.108 |
Vglz | Left eye sight direction vector z | – | − 0.939 | 0.048 | − 0.042 |
Proll | Roll angle of head pose | rad | − 0.112 | 0.145 | − 0.021 |
